data_collection_server.py

What is this?

Save topics with synchronization by std_srvs/Trigger message as {SAVE_DIR}/{TIMESTAMP}/{FILENAME}.

Parameters

  • ~save_dir (String, Default: ~/.ros)

    Save directory.

  • topics (Required)

    This param should look like below:

topics:
  - name: /camera/rgb/image_raw
    msg_class: sensor_msgs/Image
    fname: image.png
    savetype: ColorImage
  - name: /camera/depth/image_raw
    msg_class: sensor_msgs/Image
    fname: depth.pkl
    savetype: DepthImage

Currently, the supported save type is:

  • ColorImage
  • DepthImage
  • LabelImage
  • YAML

  • params (Optional)

    This param should look like below:

params:
  - key: /in_hand_data_collection_main/object
    fname: label.txt
    savetype: Text

Currently, the supported save type is:

  • Text
  • YAML

  • method (String, Default: request)

    • request: Save data when service is called.
    • timer: Save data when start service is called. Finish collecting when end service is called.
    • all: Always save data.

  • message_filters: (Bool, Default: False)

    Subscribe topics with message_filters.

  • approximate_sync: (Bool, Default: False)

    Subscribe topic with ApproximateTimeSynchronizer in message_filters.

  • queue_size: (Int, Default: 10)

    Queue size of message_filters.

  • slop: (Float, Default 0.1)

    Slop of ApproximateTimeSynchronizer in message_filters.

  • timestamp_save_dir: (Bool, Default: True)

    Save data in timestamped dir.

    If you set this as False, data will be saved as {SAVE_DIR}/{FILENAME}.

Services

  • ~save_request (std_srvs/Trigger)

    Save data when method is request.

  • ~start_request (std_srvs/Trigger)

    Start saving data when method is timer.

  • ~end_request (std_srvs/Trigger)

    Finish saving data when method is timer.